Abstract
The omni-directional mobile robot using the Omni wheel can move with turning to the constant direction. And the robot is advantageous in that flexibility of the movement is high. However, the Omni wheel is easy to slip, and dead reckoning is difficult. Then a camera was installed to an omni-directional mobile robot and estimated the motion by using optical flow. Estimation of the movement of own is possible regardless of the sliding of the wheel by using optical flow. At the same time, the obstacle detection with a little increase of the calculation cost can be carried out by detecting the obstacle using the movement information of own which was estimated.
